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59 lines
2.1 KiB
59 lines
2.1 KiB
left:
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type: vector
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urdf_path: unitree_hand/unitree_dex3_left.urdf
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# Target refers to the retargeting target, which is the robot hand
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# target_joint_names:
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target_joint_names:
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[
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"left_hand_thumb_0_joint",
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"left_hand_thumb_1_joint",
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"left_hand_thumb_2_joint",
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"left_hand_middle_0_joint",
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"left_hand_middle_1_joint",
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"left_hand_index_0_joint",
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"left_hand_index_1_joint",
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]
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wrist_link_name: None
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target_origin_link_names: ["base_link_thumb","base_link_index","base_link_middle"]
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target_task_link_names: ["thumb_tip","index_tip","middle_tip"]
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target_link_human_indices: [[0, 0, 0], [4, 9, 14]]
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# Currently, the scaling factor for each finger is individually distinguished in the robot_hand_unitree.py file.
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# The Unitree Dex3 has three fingers with the same specifications, so the retarget scaling factors need to be adjusted separately.
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# The relevant code is as follows:
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# ref_left_value[0] = ref_left_value[0] * 1.15
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# ref_left_value[1] = ref_left_value[1] * 1.05
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# ref_left_value[2] = ref_left_value[2] * 0.95
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# ref_right_value[0] = ref_right_value[0] * 1.15
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# ref_right_value[1] = ref_right_value[1] * 1.05
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# ref_right_value[2] = ref_right_value[2] * 0.95
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scaling_factor: 1.0
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# A smaller alpha means stronger filtering, i.e. more smooth but also larger latency
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low_pass_alpha: 0.2
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right:
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type: vector
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urdf_path: unitree_hand/unitree_dex3_right.urdf
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# Target refers to the retargeting target, which is the robot hand
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target_joint_names:
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[
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"right_hand_thumb_0_joint",
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"right_hand_thumb_1_joint",
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"right_hand_thumb_2_joint",
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"right_hand_index_0_joint",
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"right_hand_index_1_joint",
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"right_hand_middle_0_joint",
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"right_hand_middle_1_joint",
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]
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wrist_link_name: None
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target_origin_link_names: ["base_link_thumb","base_link_index","base_link_middle"]
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target_task_link_names: ["thumb_tip", "index_tip", "middle_tip"]
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target_link_human_indices: [[0, 0, 0], [4, 9, 14]]
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scaling_factor: 1.0
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# A smaller alpha means stronger filtering, i.e. more smooth but also larger latency
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low_pass_alpha: 0.2
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